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BCLab-UNM / SwarmathonIV-Cabrillo-Public

Swarmathon code repository for Cabrillo College
MIT License
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Approximate home location #204

Closed darrenchurchill closed 5 years ago

darrenchurchill commented 5 years ago

This PR adds an approximate home location as a backup when home corner's can't be found, updating gohome and dropoff to use them when it appears to be necessary.

It should address #190

Depending on how many home tags are visible, the approximate location can be almost the same as the accurate home location, or somewhere near the edge of the home ring.

darrenchurchill commented 5 years ago

Below are some images of the accurate (axis and yellow dot) vs approximate (blue dot) locations.

Good

best_case

Acceptable

worst_case

Carter90 commented 5 years ago

Looks good, for me. Here is with the normal homeplate image

Made static model that covers the corners, the approx location is very close to the actual location image image

Carter90 commented 5 years ago

Looks good, I ended up removing the corners of the the home model /home/$USER/.gazebo/models/collection_disk/materials/textures collection_disk

Works and saw this ==> /home/carter/.ros/log/latest/achilles-task-1.log <== [rosout][WARNING] 2019-04-11 22:23:29,176: Performing dropoff using approximate home location.